Hi!

An easy way would be to use tf's static_transform_publisher. Based on the
other email of yours I assume you are using your point cloud generating
device (Kinect?) mounted on your robot?
So, you could set up a relation between that device and your robot by:
"rosrun tf static_transform_publisher 0 0 0 0 0 0 /camera_mount /camera 10"
(in the terminal)
This publishes a transform from the frame /camera_mount, which can be any of
your robot's published frames, to the camera (at 100hz (10ms)).
*But* you will only see the point cloud being updated, when choosing /camera
as fixed frame in rviz. So, you will see both the point cloud and the robot
model, but from the viewpoint of /camera.
I think, I better implementation would be adding a camera_joint to your
robot's urdf description as described here:
http://answers.ros.org/question/106/how-to-add-kinect-sensor-input-to-a-urdf-model
But I never have done that. Maybe someone else can provide more help!

Good luck!

Regards,
Marcus Liebhardt


2011/6/19 Medi-Care Robotics <itsmyrobot@gmail.com>

> Can you please explain me how to do  this. I am quite new to ROS.
>
> Do i do this in one of the files or in the terminal?
>
>
>
> Op 19 jun. 2011 om 20:41 heeft Marcus Liebhardt <
> marcus.liebhardt@pal-robotics.com> het volgende geschreven:
>
> Hi!
>
> I think I managed that once by adding a new tf frame, which is the parent
> of both (in your case) /common_odometry (or maybe the base_link of your
> robot) and /camera.
> Then rviz should know how to bring the pointcloud and the robot model in
> accordance with each other.
>
> If the above works, would you please post the question and answer on
> <http://answers.ros.org/>answers.ros.org (if it is not already there)?
> Thanks!
>
> Regards,
> Marcus Liebhardt
>
>
>
> 2011/6/19 Medi-Care Robotics < <itsmyrobot@gmail.com>itsmyrobot@gmail.com>
>
>> I am using rviz to view my pointcloud. Now if i use Robot_model. I have to
>> set the global conf. To /common_odometry or something similair. With the
>> pointcloud it needs to be /camera to see anything.
>>
>> But how would i show both at the same time? Is there a sort of default to
>> view everything?
>>
>>
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>>
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